Detail publikace

Stewart platform model with uncertain parameters

BŘEZINA, L. BŘEZINA, T.

Originální název

Stewart platform model with uncertain parameters

Typ

článek v časopise ve Web of Science, Jimp

Jazyk

angličtina

Originální abstrakt

The paper deals with development of uncertain dynamics model of a six DOF parallel mechanism (Stewart platform) suitable for H-infinity controller design. The model is based on linear state space models of the machine obtained by linearization of the SimMechanics model. The linearization is performed for two positions of the machine in its workspace. It is the nominal position and the position where each link of the machine reaches its maximal length. The uncertainties are then represented as differences between parameters of corresponding state-space matrices. The uncertain state space model is then obtained using upper linear fractional transformation. There are also mentioned several notes regarding H-infinity controller designed according to the obtained model.

Klíčová slova

stewart platform, uncertain system, H-infinity controller

Autoři

BŘEZINA, L.; BŘEZINA, T.

Rok RIV

2010

Vydáno

11. 5. 2010

Nakladatel

Trans Tech Publications

Místo

Zurich, Switzerland

ISSN

1012-0394

Periodikum

Solid State Phenomena

Ročník

2010

Číslo

164

Stát

Švýcarská konfederace

Strany od

177

Strany do

182

Strany počet

6

BibTex

@article{BUT49839,
  author="Lukáš {Březina} and Tomáš {Březina}",
  title="Stewart platform model with uncertain parameters",
  journal="Solid State Phenomena",
  year="2010",
  volume="2010",
  number="164",
  pages="177--182",
  issn="1012-0394"
}